quick draft implementation for SharedMemoryInProcessPhysicsC_API

test/SharedMemory/test.c

@@ -9,6 +9,9 @@
 #include "SharedMemory/PhysicsDirectC_API.h"
 #endif //PHYSICS_SERVER_DIRECT
 
+#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
+#include "SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
+#endif//PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
 
 #include "SharedMemory/SharedMemoryPublic.h"
 #include "Bullet3Common/b3Logging.h"
@@ -17,6 +20,7 @@
 
 #include <stdio.h>
 
+
 int main(int argc, char* argv[])
 {
 	int i, dofCount , posVarCount, ret ,numJoints ;
@@ -40,7 +44,11 @@ int main(int argc, char* argv[])
 
 #ifdef PHYSICS_SERVER_DIRECT
 	sm = b3ConnectPhysicsDirect();
-#else//PHYSICS_SERVER_DIRECT
+#endif
+
+#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
+	sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv);
+#else
 	sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
 #endif //PHYSICS_SERVER_DIRECT
 	
@@ -61,8 +69,8 @@ int main(int argc, char* argv[])
 			b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
 			
             //setting the initial position, orientation and other arguments are optional
-            startPosX =2;
-            startPosY =3;
+            startPosX =0;
+            startPosY =0;
             startPosZ = 1;
             ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
             statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);